2002 Kia Sportage starter problem

While driving, the car just died. No noise, smoke, bang, nothing. Tried to restart and it just whirred. Brand new starter, replaced that anyway, same thing - just whirr. Have power to everything and I'm reading through forums with no luck, apparently there aren't many of these models left. Please tell me that I don't need a new engine like my father in law is telling me! The starter appears to be properly functioning just not engaging the flywheel. Since I can't turn the blots myself I did not have an opportunity to look at the flywheel, so maybe that's the problem? Suggestions please, including what's involved with changing a flywheel.